US6427105B1 - Electric power steering control system and control method thereof - Google Patents

Electric power steering control system and control method thereof Download PDF

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US6427105B1
US6427105B1 US10/043,226 US4322602A US6427105B1 US 6427105 B1 US6427105 B1 US 6427105B1 US 4322602 A US4322602 A US 4322602A US 6427105 B1 US6427105 B1 US 6427105B1
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axis
voltage command
current
computing
sin
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Masaki Matsushita
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Mitsubishi Electric Corp
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Mitsubishi Electric Corp
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/046—Controlling the motor
    • B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/046—Controlling the motor
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/08—Arrangements for controlling the speed or torque of a single motor
    • H02P6/085—Arrangements for controlling the speed or torque of a single motor in a bridge configuration

Definitions

  • the present invention relates to an electric power steering control system for an automobile and to a control method thereof, in which an assist force when manipulating a steering wheel is generated by means of a motor.
  • an electric power steering apparatus As a power steering system for an automobile, an electric power steering apparatus has been developed which apparatus detects a vehicle speed and a steering torque acting on a steering shaft, drives a motor by a drive current determined in response to the detected vehicle speed and torque, adds an assist force onto the steering shaft by means of a rotational force of the motor, and then provides a driver a comfortable steering feeling.
  • a DC electric motor with a brush such as a commutator motor has been mainly used. Since the motor is with a brush, however, it is possible that any trouble or abnormal state occurs in the motor itself.
  • the motor for assisting the steering is connected to the steering wheel through a reduction gear.
  • the motor is required to have less fluctuation in torque and less vibration.
  • the motor is forced to abruptly start or stop depending upon steering conditions.
  • FIG. 4 shows an arrangement of an electric power steering control system which a PM (permanent magnet) brushless motor is used as a steering assist motor and the electric current is controlled with a three-phase alternating current.
  • PM permanent magnet
  • a PM brushless motor 5 a is PWM driven by a PWM drive section 101 .
  • a control computer 200 computes three-phase voltage command values Vu*, Vv*, Vw* on the basis of a vehicle speed detected by a speed sensor 6 , a steering torque detected by a torque sensor 3 , a rotational position of the brushless motor 5 detected by a position sensor 103 , and three-phase alternating currents Iu, Iv detected by current sensors 102 a, 102 b. Then the PWM drive 101 is controlled by the mentioned three-phase voltage command values Vu*, Vv*, Vw*.
  • the control computer 200 includes a d-q axis current command section 200 a for computing d-axis and q-axis current command values Id*, Iq* for generating a steering assist force in response to a predetermined characteristic on the basis of the steering torque and the vehicle speed, an electrical angle computing section 200 b for computing an electrical angle signal ⁇ in response to the rotational position of the brushless motor 5 detected by the position sensor 103 , a d-q coordinate inverse transformation section 200 c for performing d-q coordinate inverse transformation of the d-axis and q-axis current command values Id*, Iq* on the basis of the electrical angle signal ⁇ thereby computing three-phase current command values Iu*, Iv*, and a three-phase voltage command section 200 d for computing the three-phase voltage command values Vu*, Vv*, Vw* in accordance with deviation values of the three-phase current command values Iu*, Iv* and the three.-phase alternating currents Iu, Iv inputted to
  • the PM brushless motor 5 generates a torque by delivering sine-wave currents to the three phases in accordance with the electrical angle as shown in FIG. 6, for example. As the motor output torque is in proportion to amplitude of the sine-wave currents, controlling the current amplitude controls the output torque of the PM brushless motor 5 .
  • the mentioned electrical angle is an angle in which pairs of S and N poles of a rotor in the PM brushless motor are arranged to be 360 degrees.
  • FIG. 5 shows the relation between electrical angle and mechanical angle in case of an eight-pole motor.
  • the current control system can follow up the steering condition and the steering assist characteristic is not deteriorated.
  • the rotation speed of the brushless motor 5 follows up the rotation speed of the steering wheel, and therefore when the steering wheel is turned sharply, the motor is abruptly rotated to a speed over the rotation speed performance thereof.
  • the phase shift means increase in reactive current, and supposing a phase shift with respect to an ideal current phase as ⁇ , the output torque is in proportion to COS ⁇ .
  • the output torque of the steering assist motor is lowered, and as a result, manipulation of the steering wheel becomes heavy.
  • the electric power steering control system it is essential that the steering torque does not increase even when the steering wheel is turned sharply in terms of emergency behavior to avoid accident, and it is important to arrange the electric power steering control system so as not to increase the steering torque even when the steering wheel is turned sharply.
  • the present invention was made to solve the above-discussed problems and has an object of providing an electric power steering control system in which a brushless motor is used as a motor for generating a steering assist force, and error in torque control and transient vibration are small even when the steering wheel is turned sharply.
  • the invention also provides a method for controlling electric power steering.
  • An electric power steering control system arranged to control a drive current of a brushless motor that generates a steering assist force on the basis of a steering torque acting on a steering shaft and a vehicle speed, comprises:
  • a d-q-axis current command section for computing a d- and q-axis current command value for generating a steering assist force in response to a predetermined characteristic on the basis of the mentioned steering torque and the mentioned vehicle speed;
  • an electrical angle computing section for computing an electrical angle signal on the basis of a rotational position signal of the mentioned brushless motor
  • a d-q coordinate transformation section for performing a d-q coordinate transformation on the basis of a detection current signal in response to a three-phase AC current to be inputted to the mentioned brushless motor and of the mentioned electrical angle signal, thereby obtaining a d- and q-axis detection current value;
  • a d-q axis voltage command section for computing a d- and q-axis voltage command value in response to a deviation between the mentioned d- and q-axis current command value and the mentioned d- and q-axis detection current value;
  • a d-q coordinate inverse transformation section for performing a d-q coordinate inverse transformation on the basis of the mentioned d- and q-axis voltage command value and the mentioned electrical angle signal thereby computing a three-phase voltage command value
  • a PWM output section for generating a PWM waveform for PWM drive of the mentioned brushless motor in response to the mentioned three-phase voltage command value.
  • the system is arranged so that the brushless motor is used as the motor for generating a steering assist force, and the current control is performed on the d-q coordinate axis where the electric current can be treated in dc amount even when the motor is driven, and as a result, it is possible to achieve a reliable electric power steering control system in which error in torque control and transient vibration are both small even when the steering wheel is turned sharply.
  • the mentioned d-q axis current command section includes a q-axis current command part for computing the q-axis current command value for generating the steering assist force in response to a predetermined characteristic on the basis of the mentioned steering torque and the mentioned vehicle speed and a d-axis current setting part for setting zero as the d-axis current command value.
  • a computing expression for performing the d-q coordinate transformation on the basis of the mentioned detected current signal and the mentioned electrical angle signal is stored in the mentioned d-q coordinate transformation section.
  • [ Id Iq ] 2 ⁇ [ - sin ⁇ ⁇ ( ⁇ + 4 3 ⁇ ⁇ ⁇ ) sin ⁇ ⁇ ⁇ - sin ⁇ ⁇ ( ⁇ + 11 6 ⁇ ⁇ ⁇ ) sin ⁇ ⁇ ( ⁇ + 1 2 ⁇ ⁇ ⁇ ) ] ⁇ [ Iu Iv ]
  • Vu*, Vv* and Vw* are U-phase, V-phase and W-phase voltage command values
  • Vd* and Vq* are d- and q-axis voltage command values
  • ⁇ is an electrical angel in response to the rotational position of the brushless motor.
  • the mentioned d-q axis voltage command section adds a signal, to which proportionals control and integral control have been applied, to the mentioned current deviation values.
  • a computing expression for performing the d-q coordinate inverse transformation on the basis of the mentioned detected current signal and the mentioned electrical angle signal is stored in the mentioned d-q coordinate inverse transformation section.
  • Vu*, Vv* and Vw* are U-phase, V-phase and W-phase voltage command values
  • Vd* and Vq* are d- and q-axis voltage command values
  • ⁇ is an electrical angel in response to the rotational position of the brushless motor.
  • An electric power steering control method arranged to control a drive current of a brushless motor that generates a steering assist force on the basis of a steering torque acting on a steering shaft and a vehicle speed, comprises:
  • the method is arranged so that the brushless motor is used as the motor for generating a steering assist force, and the current control is performed on the d-q coordinate axis where the electric current can be treated in dc amount even when the motor is driven, and as a result, it is possible to achieve a reliable electric power steering control system in which error in torque control and transient vibration are both small even when the steering wheel is turned sharply.
  • the q-axis current command value for generating the steering assist force in response to the predetermined characteristic on the basis of the mentioned steering torque and the mentioned vehicle speed is computed, and zero is set as the d-axis current command value.
  • the d-q coordinate transformation on the basis of the mentioned detected current signal and the mentioned electrical angle signal is performed in accordance with a computing expression preliminarily stored.
  • Vu*, Vv* and Vw* are U-phase, V-phase and W-phase voltage command values
  • Vd* and Vq* are d- and q-axis voltage command values
  • ⁇ is an electrical angel in response to the rotational position of the brushless motor.
  • the d-q coordinate inverse transformation on the basis of the mentioned d-axis and q-axis voltage command values and the mentioned electrical angle signal is performed in accordance with a computing expression preliminarily stored.
  • Vu*, Vv* and Vw* are U-phase, V-phase and W-phase voltage command values
  • Vd* and Vq* are d- and q-axis voltage command values
  • ⁇ is an electrical angel in response to the rotational position of the brushless motor.
  • the motor control process according to the mentioned second to fifth steps is performed as an interruption of a cycle shorter than that of the d-q axis current command computing process according to the foregoing first step.
  • FIG. 1 is a schematic view showing an arrangement of Embodiment 1 according to the present invention.
  • FIG. 2 is a block diagram showing an operation of Embodiment 1 according to the invention.
  • FIG. 3 is a flowchart for explaining an operation of an essential part according to Embodiment 1 of the invention.
  • FIG. 4 is a schematic block diagram showing one example of performing a current control by three-phase alternating current.
  • FIG. 5 is an explanatory view showing one example of the relation between mechanical angle and electrical angle of the brushless motor.
  • FIG. 6 is a current waveform diagram to explain an operation of the current control by three-phase alternating current.
  • FIG. 7 is a current waveform diagram to explain an operation f the current control by three-phase alternating current.
  • FIG. 8 is a current waveform diagram to explain an operation of the d-q coordinate transformation.
  • FIG. 1 is a schematic diagram of the electric power steering control system according to Embodiment 1.
  • a PWM brushless motor 5 which generates a steering assist torque, is coupled to one end of a steering shaft 2 via a deceleration gear 4 .
  • a steering wheel 1 is connected to the other end of the steering shaft 2 . Further, the steering shaft 2 is provided with a torque sensor 3 for detecting a steering torque of the steering wheel 1 .
  • a controller 10 determines a steering assist torque on the basis of a steering torque value detected by the torque sensor 3 and a vehicle speed value detected by a vehicle speed sensor 6 . Further, the controller 10 PWM drives the brushless motor 5 thereby assisting the steering of the steering wheel 1 .
  • a battery 7 In addition, a battery 7 , an ignition key switch 8 and others are connected to the controller 10 .
  • FIG. 2 a block diagram showing operation of the electric power steering control system according to Embodiment 1.
  • a control computer 100 disposed in the controller 10 includes a q-axis current computing section 10 a, a d-axis current setting section 10 b, an electrical angle computing section 100 c, a d-q coordinate transformation section 100 d, a d-q axis voltage command section 100 e, and a d-q coordinate inverse transformation section 100 f.
  • the q-axis current computing section 100 a carries out computation (operation) in accordance with a predetermined characteristic on the basis of a torque detection signal from the torque sensor 3 and a vehicle-speed detection signal from the vehicle speed sensor 6 . Thus, a current command value Iq* is determined for driving the brushless motor 5 . Then, the section 100 a feeds the determined current command value to the d-q axis voltage command section 100 e.
  • the electrical angle computing section 100 c computes an electrical angle on the basis of the rotational position signal detected by a sensor 103 mounted onto the brushless motor 5 . Further, the section 100 c feeds the computed electrical angle signal ⁇ to the d-q coordinate transformation section 100 d and the d-q coordinate inverse transformation section 100 f.
  • the d-q coordinate transformation section 100 d stores therein a computing expression for performing the d-q coordinate transformation on the basis of detection current signals Iu, Iv detected by current sensors 102 a, 102 b, and the electrical angle signal ⁇ . Further, the section 100 d carries out the d-q coordinate transformation on the basis of the detection current signals Iu, Iv and the electrical angle signal ⁇ and feeds d- and q-axis detection current values to d-q axis voltage command section 100 e after the transformation.
  • Transforming the coordinates from a three-phase alternating-current coordinate system into a two-axis direct-current coordinate system performs the d-q coordinate transformation, and as shown in FIG. 8, three-phase alternating currents Iu, Iv are transformed into two-axis direct currents Id, Iq through the d-q coordinate transformation.
  • the d-q axis voltage command section 100 e computes deviation in current between the d- and q-axis current command values Id*, Iq* and the d- and q-axis detection current values Id, Iq after the transformation. Further, by adding the signals, to which a proportional control and an integral control are respectively applied, to the computed deviation value, the section 100 e determines a d-q axis voltage command values vd*,Vq* and feeds them to the d-q coordinate inverse transformation section 100 f.
  • the d-q coordinate inverse transformation section 100 f stores therein a computing expression to perform the d-q coordinate inverse transformation on the basis of the d-q axis voltage command values Vd*, Vq* and the electrical angle signal ⁇ . Further, the section 100 f carries out the d-q coordinate inverse transformation on the basis of the d-q axis voltage command values vd*, Vq* and the electrical angle signal ⁇ , thereby generating the three-phase voltage command values Vu*, VV*, Vw*.
  • the PWM drive 101 performs a drive control of the brushless motor 5 according to the three-phase voltage command values Vu*, Vv*, Vw* from the control computer 100 , and generates a steering assist force.
  • FIG. 3 is a flow chart to explain an operation of the control computer 100 , and in which (a) shows a flow of computing process of the d-q axis current command, and (b) shows a flow of motor control process.
  • Both of the d-q axis current command computing process and the motor control process are performed as an interruption operation with a regular cycle, however, the motor control process is performed with a cycle that is about 1/10 times as small as the interruption cycle of the d-q axis current command computing process.
  • step S 1 steering torque data detected by the torque sensor 3 are fetched in.
  • step S 2 vehicle-speed data detected by the vehicle speed sensor 6 are fetched in.
  • step S 3 on the basis of the steering torque and the vehicle speed having been fetched in, a q-axis current command value Iq* is computed.
  • step S 4 the d-axis current command value Id* is set to zero, thus ending the d-q axis current command computing process.
  • step S 11 when a start command of the motor control processing is issued, first in step S 11 , the d-and q-axis current command values Id*, Iq* having been obtained at the d-q axis current command computing process are fetched in.
  • step S 12 position sensor data are fetched in from the position sensor 103 .
  • step S 13 an electrical angle ⁇ is computed on the basis of the position sensor data.
  • step S 14 data of U-phase and V-phase detection currents Iu, Iv from the current sensors 102 a, 102 b are fetched in.
  • step S 15 the d-q coordinate transformation is performed on the basis of the electrical angle ⁇ and the U-phase and V-phase detection currents Iu, Iv, thereby obtaining the d- and q-axis detection current values Id, Iq.
  • steps S 16 and S 17 the d- and q-axis voltage command values Vd*, Vq* are computed respectively.
  • step S 18 on the basis of the electrical angle ⁇ and the d- and q-axis voltage command values Vd*, Vq*, the d-q coordinate inverse transformation is performed thereby obtaining the three-phase voltage command values Vu*, Vv*, Vw*.
  • step S 19 these values are outputted to the PMW drive section 10 as the three-phase PWM voltage commands, thus ending the motor control process.
  • This motor control process can be performed in such a manner that, if the interruption cycle of the d-q axis current command processing is, for example, 1 ms, the interruption cycle for the motor control process can be approximately 1/10 times as small as that of the d-q axis current command process, that is, about 100 ⁇ s. Therefore, the torque control of the motor is performed precisely so that variation in torque or generation of torque ripple may be reduced.
  • [ Id Iq ] 2 3 ⁇ [ cos ⁇ ⁇ ⁇ cos ⁇ ⁇ ( ⁇ - 2 3 ⁇ ⁇ ⁇ ) cos ⁇ ⁇ ( ⁇ + 2 3 ⁇ ⁇ ⁇ ) - sin ⁇ ⁇ ⁇ - sin ⁇ ⁇ ( ⁇ - 2 3 ⁇ ⁇ ⁇ ) - sin ⁇ ⁇ ( ⁇ + 2 3 ⁇ ⁇ ⁇ ) ] ⁇ [ Iu Iv Iw ]
  • the expressions 9, 10 require both sine table and cosine table.
  • the expression 11 requires only the sin table, thus load for computation is advantageously small.
  • the expression 12 requires both sine table and cosine table, while the expression 13 requires only the sine table, which is an advantage of small load for computation.
  • the brushless motor is used as the motor for generating the steering assist force, which greatly decreases troubles as compared with the conventional system using the direct current motor with the brush. Furthermore, the system is arranged so that the electric current is controlled on the d-q coordinate axis where the electric current can be treated in dc amount even when the motor is driven. As a result, it is possible to prevent increase in torque control error and transient vibration particularly when the steering wheel is turned sharply, as compared with the conventional system in which electric current is controlled by three-phase alternating current.
US10/043,226 2001-09-04 2002-01-14 Electric power steering control system and control method thereof Expired - Lifetime US6427105B1 (en)

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JPP2001-266793 2001-09-04
JP2001266793A JP3559260B2 (ja) 2001-09-04 2001-09-04 電動パワーステアリング制御装置及び制御方法

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US20120330508A1 (en) * 2011-06-22 2012-12-27 Ford Global Technologies, Llc System and method for controlling electric power steering assist
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CN107786142A (zh) * 2016-08-31 2018-03-09 北京天诚同创电气有限公司 发电机转矩控制方法和控制系统
CN111456933A (zh) * 2020-05-08 2020-07-28 河海大学常州校区 一种汽车电子水泵空转状态检测方法
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